A Wrist Joint Rehabilitation Device Actuated by Pneumatic Artificial Muscles

摘要

By use of pneumatic artificial muscles as actuators, a wrist joint rehabilitation device with three-DOF has been fabricated which has some advantages such as simple structure, large output force, security and softness. During the training process, patients can adjust exercise parameters according to oneself injury level. The system structure design, the operational principle, the fabrication of pneumatic artificial muscle and the composition of control system are described in detail at first. Finally, the motion parameters of the prototype are tested by the primary experiments. It is proven that the device can meet general rehabilitation requirements for wrist joint recovery and is expected to be used in clinic training.